2026-04-14T13:05:37 - INFO: MSIP3D 0.2.1
2026-04-14T13:05:37 - INFO: P3D files will be output to /working/b9132d5a-33ee-8d0d-db46-86076a0aa3b6/b9132d5a-33ee-8d0d-db46-86076a0aa3b6
2026-04-14T13:05:37 - INFO: Found 11 TFD dictionary entries
2026-04-14T13:05:37 - INFO: Found TFD mission for SJ502776 Dep 591
2026-04-14T13:05:37 - INFO: Recording will be processed as SMD
2026-04-14T13:05:37 - INFO: Copying assets JSON to output directory...
2026-04-14T13:05:37 - INFO: Preparing counter data...
2026-04-14T13:05:37 - INFO: Interpreting counter as imperial
2026-04-14T13:05:37 - INFO: Preparing size track from assets JSON...
2026-04-14T13:05:37 - INFO: Preparing shape track from assets JSON...
2026-04-14T13:05:37 - INFO: Preparing material track from assets JSON...
2026-04-14T13:05:37 - INFO: Prepared counter data in 0.0109 s
2026-04-14T13:05:37 - INFO: Extracting sonar data...
TFD path: /working/b9132d5a-33ee-8d0d-db46-86076a0aa3b6/tfd/SJ502776_Dep_591.tfd
TFD path: /working/b9132d5a-33ee-8d0d-db46-86076a0aa3b6/tfd/output
Name: MISSION_FILE, Tag: 5073671569755687501
Name: CCTV, Tag: 4855215978501720643
Name: LASER, Tag: 4855215978501720652
Name: CCTV, Tag: 4855215974206753347
Name: Index, Tag: 5291276999180902239
Name: Checkpoint, Tag: 4857243675797774090
Name: SONAR, Tag: 6012080331585573559
Name: Dictionary, Tag: 18446744073709551615
Name: SONAR_SENSOR_DATA, Tag: 6012080331585571411
Getting track SONAR
Number of frames: 502
18 / 502 [-->__________________________________________________________________________] 3.59% ? p/s37 / 502 [----->_______________________________________________________________________] 7.37% ? p/s56 / 502 [-------->___________________________________________________________________] 11.16% ? p/s74 / 502 [----------->_______________________________________________________________] 14.74% 93 p/s93 / 502 [------------->_____________________________________________________________] 18.53% 93 p/s112 / 502 [---------------->_________________________________________________________] 22.31% 93 p/s130 / 502 [------------------->______________________________________________________] 25.90% 93 p/s149 / 502 [--------------------->____________________________________________________] 29.68% 93 p/s169 / 502 [------------------------>_________________________________________________] 33.67% 93 p/s188 / 502 [--------------------------->______________________________________________] 37.45% 94 p/s206 / 502 [------------------------------>___________________________________________] 41.04% 94 p/s224 / 502 [--------------------------------->________________________________________] 44.62% 94 p/s243 / 502 [----------------------------------->______________________________________] 48.41% 93 p/s260 / 502 [-------------------------------------->___________________________________] 51.79% 93 p/s279 / 502 [----------------------------------------->________________________________] 55.58% 93 p/s297 / 502 [------------------------------------------->______________________________] 59.16% 93 p/s315 / 502 [---------------------------------------------->___________________________] 62.75% 93 p/s332 / 502 [------------------------------------------------>_________________________] 66.14% 93 p/s349 / 502 [--------------------------------------------------->______________________] 69.52% 93 p/s367 / 502 [------------------------------------------------------>___________________] 73.11% 93 p/s386 / 502 [-------------------------------------------------------->_________________] 76.89% 93 p/s405 / 502 [----------------------------------------------------------->______________] 80.68% 93 p/s424 / 502 [-------------------------------------------------------------->___________] 84.46% 93 p/s444 / 502 [----------------------------------------------------------------->________] 88.45% 93 p/s463 / 502 [-------------------------------------------------------------------->_____] 92.23% 93 p/s482 / 502 [----------------------------------------------------------------------->__] 96.02% 93 p/s501 / 502 [------------------------------------------------------------------------->] 99.80% 93 p/s502 / 502 [-------------------------------------------------------------------------] 100.00% 96 p/s2026-04-14T13:05:42 - INFO: Parsing 502 sonar sweeps from /working/b9132d5a-33ee-8d0d-db46-86076a0aa3b6/tfd/output/SONAR/all-sweeps-info.csv...

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2026-04-14T13:06:02 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 0 --pressure 0 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike /working/b9132d5a-33ee-8d0d-db46-86076a0aa3b6/b9132d5a-33ee-8d0d-db46-86076a0aa3b6"
2026-04-14T13:06:03 - INFO: DataPrep 0.14.0
2026-04-14T13:06:03 - INFO: Prepared data will be output to /working/b9132d5a-33ee-8d0d-db46-86076a0aa3b6/b9132d5a-33ee-8d0d-db46-86076a0aa3b6/processing/data
2026-04-14T13:06:03 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-04-14T13:06:03 - deployment - INFO: Detected P3D version: P3D_1
2026-04-14T13:06:03 - INFO: Recording GUID: b9132d5a-33ee-8d0d-db46-86076a0aa3b6
2026-04-14T13:06:03 - INFO: Preparing sonar data...
2026-04-14T13:06:03 - INFO: /working/b9132d5a-33ee-8d0d-db46-86076a0aa3b6/b9132d5a-33ee-8d0d-db46-86076a0aa3b6/sonar/sonar.dat has metadata version 1.1 (0x00010001)
2026-04-14T13:06:04 - INFO: Sonar epoch is 2026-03-03 15:58:36.701962+00:00 (1772553516701961885)
2026-04-14T13:06:04 - INFO: Creating sonar sensor alignment track...
2026-04-14T13:06:04 - INFO: Using sonar rotation of 0.017453 radians for wedge mask
2026-04-14T13:06:04 - INFO: Sensor speed of sound is 1500 m/s
2026-04-14T13:06:04 - INFO: Sensor range is 1.372560 m
2026-04-14T13:06:04 - INFO: Sensor micrometres per sample is 4560.000081
2026-04-14T13:06:04 - INFO: Scaled speed of sound is 1472.424156 m/s
2026-04-14T13:06:04 - INFO: Scaled range is 1.347327 m
2026-04-14T13:06:04 - INFO: Scaled micrometres per sample is 4476.169513
2026-04-14T13:06:04 - INFO: Processing 502 sweeps...

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2026-04-14T13:06:06 - INFO: Prepared sonar data in 2.5001 s
2026-04-14T13:06:06 - INFO: No IMU data found
2026-04-14T13:06:06 - INFO: DataPrep took 0:00:02.570169
2026-04-14T13:06:06 - INFO: Extracted sonar data in 0:00:29.279411
2026-04-14T13:06:06 - INFO: MSIP3D took 0:00:29.332126